| 详细资料：
Introduction
MCAC808 all-digital AC servo drive system adopts high-performance digital signal
processor (DSP) and integrated circuit, and come out to be a cost effective product
with simple circuit,high integration, easy operation, and strong practicability.
MCAC808 provide three feedback loops: position loop, velocity loop and current
loop. Three work control mode: position, velocity and torque. MCAC808 matches
with AC servo motor under 80V and 400W.
Features
Position control: light isolate input PULSE/DIRECTION or CW/CCW signal
Speed control: input simulate 0-3.3V voltage signal (speed input by P1)
Torque control: input simulate 0-3.3V voltage signal (torque input by P1)
Light isolation servo reset input interface ERC
Light isolation servo failure alarm output interface ALM
Width of current loop (-3dB) 2KHz (standard)
Width of velocity loop: 500 Hz (standard)
Width of position loop: 200 Hz (standard)
Quadrature encoder input interface at motor side: differential input (26LS32)
Allow parameters download by pc or text displayer through interface RS232C
Perfect protection against overload, I2T, over-voltage, over current, overheating,
short circuit, circuit interruption, chip damageGreen light for on, red light for
protected mode or offline.
Specification
Input DC voltage range 30—80v(standard)
Continuous Output power:400W
Continuous output current: 8A ,20KHz PWM
Overload output current: 24A(3s)
Protection:
Over current initiated peak value: 50A±10%
Overload I2T current initiated value: 300% 5s
Overheating initiated value: 80℃
Over voltage initiated value: 90V
Under Voltage initiated value: 24V
Maximum pulse input frequency:300K
Maximum RS232C speed: 19.6Kbps (an extra transfer interface required)
Working environment:
No dust, no oil mist and no corrosive air
Working temperature: 0-50℃
Storage temperature: -20+80℃
Humidity:40-90RH
Cooling method: natural air cooling and forced air cooling
Dimension: 140 x 97 x 48 mm
Weight: about 500g
Parameter adjusting and setting
(potentiometer adjusting, CCW to minimize value, CW to maximize value)
A) Four pins on the Circuit Board for control mode setting, 1, 2, 3, 4
respectively from the outer side.
1. no plug in, position mode is pulse/direction
2. plug in 1, speed control, speed input by P1
3. plug in 2, torque control, torque input by P1
4. plug in 1 and 2, position control for positive pulse/negative pulse input
5. plug in 3, position control pulse/direction, but converse running direction.
B) 11 scale on the potentiometer, CCW to minimize the value to 0, CW to
maximize the value to 10, and 5 in the middle.
P1 : Position Feed-forward Control
P2: position proportional gain control
P3: position differential control
P4 : velocity proportional gain control
Servo system includes three feedback loop: position, velocity and torque(current).
The inner loop responses with the fastest speed, and the middle loop must
responses faster than the outer loop. A vibration will happen when the rule has
not been followed. Customer need adjust the parameter of position loop and
velocity loop only. Parameters of system would restrict each other, the output
of position feedback would be unstable when just only the position feedback
gains, which would lead to an unstable result of the whole servo system.
Customer might take the following adjustment procedure as a reference:
1. set P1 and P3 to (3) on the potentiometer, set the P2 and P4 to (3), and then
increase the P4 slowly till a vibration happens, then return 0.5 to 1 scale.
2. increase the P2 till a vibration happens, and then increase the P3 till the
vibration disappears.
3. increase the P1 to fulfill a minimum lag and overshoot.
4. decrease the P4 properly when a vibration happens during the motor operation.
5. decrease the P2 or increase the P3 properly when a vibration happens when the
motor stop.
6. decrease the current properly when a magnet noise happens.
Maximize the P2 under the condition of none overshoot and no vibration. And then
minitrim the P4, P1 and P3 till a perfect setting.
Ports detail
X1: control signal input / output (D9 male)
|
Terminal block |
Sign |
Name |
Note |
|
1 |
DIR+ |
Positive direction input |
Active-high |
|
6 |
DIR- |
Negative direction input |
Active-low |
|
2 |
PUL+ |
Pulse positive input |
Active-high |
|
7 |
PUL- |
Pulse negative input |
Active-low |
|
3 |
ERC+ |
Positive servo reset input |
Active-high |
|
8 |
ERC- |
Negative servo reset input |
Active-low |
|
4 |
ALM |
Alarm output signal |
Open collector output |
|
5 |
INPOS |
In position Output signal |
Open collector output |
|
9 |
EGND |
Output ground |
Open collector output ground |
X2: feedback signal input of encoder(D15 female)
|
Terminal block |
Sign |
Name |
shuoming |
|
1 |
GND |
Output power ground |
|
|
2 |
VCC |
Output power |
50mAh |
|
3 |
PW+ |
Positive input of magnet W phase |
Single end connection |
|
4 |
PV+ |
Positive input of magnet V phase |
Single end connection |
|
5 |
PU+ |
Positive input of magnet U phase |
Single end connection |
|
6 |
PZ+ |
Positive input of encoder Z phase |
|
|
7 |
PB+ |
Positive input of encoder B phase |
|
|
8 |
PA+ |
Positive input of encoder A phase |
|
|
9 |
|
|
|
|
10 |
PW- |
Negative input of magnet W phase |
|
|
11 |
PV- |
Negative input of magnet V phase |
|
|
12 |
PU- |
Negative input of magnet U phase |
|
|
13 |
PZ- |
Negative input of encoder Z phase |
|
|
14 |
PB- |
Negative input of encoder B phase |
|
|
15 |
PA- |
Negative input of encoder A phase |
|
X3: power
|
Terminal block |
Sign |
Name |
Note |
|
1 |
W |
Motor terminal W |
|
|
2 |
V |
Motor terminal V |
|
|
3 |
U |
Motor terminal U |
|
|
4 |
VDC |
DC power input |
|
|
5 |
GND |
Power input ground |
|
Control signal connection:
Single terminal connection
Differential connection
Note: Vcc=5V, R=0
Vcc=12V, R=1K, >1/8W
Vcc=24V, R=2K, >1/8W.
Resistor must be connected on the terminal of control signal.
Connection interface and installation dimension
Provides encoder +5V and a maximum 80mA power supply. Servo motor pulses
per turn equal to four times of encoder resolution.
Brushless servo motor
Motor connection
|
|
Color |
Signal |
|
1 |
Yellow |
U |
|
2 |
Green |
V |
|
3 |
Blue |
W |
Encoder connection
|
|
Color |
Signal |
|
1 |
Black |
GND |
|
2 |
Red |
+5VDC |
|
3 |
Yellow |
HULL U |
|
4 |
Yellow-black |
HULL U- |
|
5 |
Green |
HULL V |
|
6 |
Green-black |
HULL V- |
|
7 |
White |
HULL W |
|
8 |
White-black |
HULL W- |
|
9 |
Brown |
A |
|
10 |
Brown-black |
A- |
|
11 |
Gray-black |
B |
|
12 |
Gray |
B- |
|
13 |
Orange |
Z |
|
14 |
Orange-black |
Z- |
| 
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